impel(impulseN, pos1);
rb2.impel(impulseN.negate(), pos2);
// Frictional impulse
Vector3 tangent = Vector3.cross(Vector3.cross(vr, normal), normal).normalize();
if (tangent.mag2() == 0.0f) {
return;
}
num = -Vector3.dot(vr.times(coefficientOfFriction), tangent);
Vector3 t2 = tangent.times(f);